Vision-based robotic cell design for automated waste manipulation

Abstract

The paper proposes an integrated design approach for developing an automated solid waste manipulation robot cell. The research address the development of the sensing system that implement vision-based functions and the integration of the sensing system with the Mitsubishi RV-2AJ serial robot. The system is able to identify the necessary geometric parameters of a wide range of municipal solid waste fragments and based on this data to manipulate and store them in specific containers.